Development and Experimental Control of a Wheeled Humanoid Robot

This article presents the electromechanical development and balance controller of a wheeled humanoid robot, with experimental tests. The objective of replacing the legs of a humanoid with a differential platform, creating an inverted pendulum, is to increase the maneuverability and the velocity of the robot movements. The prototype presented has a torso with two actuated arms that allows it to actively influence the movement of the differential platform. To verify the operation of the controller, designed by state feedback, experimental balance tests were carried out, under different conditions: translational and rotational movements, using straight and curved trajectories, on horizontal and inclined surfaces, with and without external disturbances. Furthermore, a test is presented that shows the effect of the movement of the arms on the differential platform, which is produced by the manipulation of the projection of the center of gravity.